cmake_minimum_required(VERSION 3.8)
project(wall_localization)

if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
  add_compile_options(-Wall -Wextra -Wpedantic)
endif()

# find dependencies
find_package(ament_cmake REQUIRED)
find_package(rclcpp REQUIRED)
find_package(sensor_msgs REQUIRED)
find_package(geometry_msgs REQUIRED)
find_package(std_msgs REQUIRED)
find_package(tf2 REQUIRED)
find_package(Eigen3 REQUIRED)

# Find JsonCpp
find_package(PkgConfig REQUIRED)
pkg_check_modules(JSONCPP REQUIRED jsoncpp)

# Include directories
include_directories(include 
${JSONCPP_INCLUDE_DIRS}
${EIGEN3_INCLUDE_DIRS})


# 创建库
add_library(wall_localizer_lib SHARED
  src/wall_localizer.cpp
)

#ament target dependecies
ament_target_dependencies(wall_localizer_lib
  rclcpp
  sensor_msgs
  geometry_msgs
  std_msgs
  tf2
  Eigen3
)

target_link_libraries(wall_localizer_lib
    ${JSONCPP_LIBRARIES}
)

#create executable
add_executable(wall_localizer src/wall_localizer.cpp)

# Link libraries to executable
ament_target_dependencies(wall_localizer
  rclcpp
)

target_link_libraries(wall_localizer
  wall_localizer_lib  # 链接创建的库
)

#install targets
install(TARGETS
  wall_localizer
  EXPORT export_${PROJECT_NAME}
  INCLUDES DESTINATION include
  ARCHIVE DESTINATION lib
  LIBRARY DESTINATION lib
  RUNTIME DESTINATION bin
)

install(TARGETS 
  wall_localizer
  DESTINATION lib/${PROJECT_NAME}
)

install(DIRECTORY include/
  DESTINATION include/
)

install(DIRECTORY 
  config
  launch
  DESTINATION share/${PROJECT_NAME}
)


if(BUILD_TESTING)
  find_package(ament_lint_auto REQUIRED)
  # the following line skips the linter which checks for copyrights
  # comment the line when a copyright and license is added to all source files
  set(ament_cmake_copyright_FOUND TRUE)
  # the following line skips cpplint (only works in a git repo)
  # comment the line when this package is in a git repo and when
  # a copyright and license is added to all source files
  set(ament_cmake_cpplint_FOUND TRUE)
  ament_lint_auto_find_test_dependencies()
endif()

ament_export_include_directories(include)
ament_export_libraries(wall_localizer)
ament_export_dependencies(
  rclcpp
  sensor_msgs
  geometry_msgs
  std_msgs
  tf2
  JsonCpp
  Eigen3
)

ament_package()
